Systems and methods for adaptive mobile telecommunications for autonomous vehicles

ABSTRACT

An autonomous land vehicle in accordance with aspects of the present disclosure includes a land vehicle conveyance system, at least two telecommunication devices, an imaging device configured to capture image data of a surrounding environment, a video encoder configured to encode the image data, one or more processors, and at least one memory storing instructions. The telecommunication devices can perform wireless communication independently of each other and can simultaneously perform wireless communication. The instructions, when executed by the processor(s), cause the vehicle to travel using the conveyance system, determine a communication capability of the telecommunication devices while the conveyance system performs travel, determine a compression rate for the video encoder based on the communication capability, encode the image data using the video encoder based on the compression rate to generate encoded data, and communicate the encoded data using at least one telecommunication device based on the communication capability.

FIELD OF THE TECHNOLOGY

The present application relates to autonomous vehicles, and inparticular, to adaptive mobile telecommunications on autonomousvehicles.

BACKGROUND

The field of fully-autonomous and/or semi-autonomous robots is a growingfield of innovation. Robots are being used for many purposes includingwarehouse inventory operations, household vacuuming robots, hospitaldelivery robots, sanitation robots, and military or defenseapplications.

In the consumer space, handling and delivery of goods and services byautonomous vehicles could improve society in many ways. For example,rather than spending time traveling to a merchant, a person can insteadengage in productive work while waiting for an autonomous vehicle todeliver the goods and/or services. With fewer vehicles on the road,traffic conditions would also improve. For example, instead of severalpeople traveling to merchants in several vehicles, a single autonomousvehicle could deliver goods and/or services to those people and therebyreduce the number of vehicles on the road. Other uses and applicationsfor autonomous vehicles are possible as technology progresses.Accordingly, there is interest in developing technologies for autonomousvehicles.

SUMMARY

The present disclosure relates to a fully-autonomous and/orsemi-autonomous robot vehicles. In one aspect, the present disclosureprovides systems and method for an autonomous vehicle to communicate indifferent communication environments using multiple telecommunicationdevices and/or using adaptive data compression.

In accordance with aspects of the present disclosure, an autonomousrobot vehicle includes a land vehicle conveyance system, at least twotelecommunication devices that are configured to perform wirelesscommunication independently of each other and that are capable ofsimultaneously performing wireless communication while the land vehicleconveyance system performs travel, an imaging device configured tocapture image data of a surrounding environment, a video encoderconfigured to encode the image data, one or more processors, and atleast one memory coupled to the one or more processors. The memorystores instructions which, when executed by the one or more processors,cause the autonomous land vehicle to travel using the land vehicleconveyance system, determine a communication capability of the at leasttwo telecommunication devices while the land vehicle conveyance systemperforms travel, determine a compression rate for the video encoderbased on the communication capability, encode the image data using thevideo encoder based on the compression rate to generate encoded data,and communicate the encoded data using at least one of the at least twotelecommunication devices based on the communication capability.

In various embodiments, the communication capability includes a totalcommunication capacity of the at least two telecommunication devices. Invarious embodiments, the compression rate for a first lower totalcommunication capacity is higher than the compression rate for a secondhigher total communication capacity. In various embodiments, thecompression rate is no compression when the communication capability issufficient to communicate the image data without compression.

In various embodiments, in determining the compression rate for thevideo encoder, the instructions, when executed by the one or moreprocessors, cause the autonomous land vehicle to determine thecompression rate based further on a travel speed of the land vehicleconveyance system. In various embodiments, a compression rate for afirst lower travel speed is lower than a compression rate for a secondhigher travel speed.

In various embodiments, in determining the communication capability ofthe at least two telecommunication devices, the instructions, whenexecuted by the one or more processors, cause the autonomous landvehicle to determine that communication is unstable over atelecommunication device of the at least two telecommunication devices,and in communicating the encoded data using at least one of the at leasttwo telecommunication devices, the instructions, when executed by theone or more processors, cause the autonomous land vehicle to communicatethe encoded data without using the telecommunication device having theunstable communication.

In various embodiments, in communicating the encoded data, theinstructions, when executed by the one or more processors, cause theautonomous land vehicle to communicate the encoded data using the atleast two telecommunication devices simultaneously.

In various embodiments, in communicating the encoded data using the atleast two telecommunication devices simultaneously, the instructions,when executed by the one or more processors, cause the autonomous landvehicle to process the encoded data into packets, and distribute thepackets to the at least two telecommunication devices.

In various embodiments, in determining the communication capability ofthe at least two telecommunication devices, the instructions, whenexecuted by the one or more processors, cause the autonomous landvehicle to successively determine the communication capability of the atleast two telecommunication devices, and in determining the compressionrate for the video encoder, the instructions, when executed by the oneor more processors, cause the autonomous land vehicle to successivelydetermine the compression rate for the video encoder based on thecommunication capability.

In various embodiments, a time period for successively determining thecommunication capability and a time period for successively determiningthe compression rate are based on a travel speed of the land vehicleconveyance system.

In various embodiments, the time period for successively determining thecommunication capability and the time period for successivelydetermining the compression rate, for a first higher travel speed, isshorter than the time period for successively determining thecommunication capability and the time period for successivelydetermining the compression rate, for a second lower travel speed.

In accordance with aspects of the present disclosure, a method isdisclosed for an autonomous land vehicle having a land vehicleconveyance system and at least two telecommunication devices that areconfigured to perform wireless communication independently of each otherand that are capable of simultaneously performing wireless communicationwhile the autonomous vehicle performs travel. The method includescapturing image data of a surrounding environment of the autonomousvehicle, traveling using the land vehicle conveyance system, determininga communication capability of the at least two telecommunication deviceswhile the land vehicle conveyance system performs travel, determining acompression rate based on the communication capability, encoding theimage data based on the compression rate to generate encoded data, andcommunicating the encoded data using at least one of the at least twotelecommunication devices based on the communication capability.

In various embodiments, the communication capability includes a totalcommunication capacity of the at least two telecommunication devices. Invarious embodiments, the compression rate for a first lower totalcommunication capacity is higher than the compression rate for a secondhigher total communication capacity.

In various embodiments, determining the compression rate includesdetermining the compression rate based further on a travel speed of theland vehicle conveyance system. In various embodiments, a compressionrate for a first lower travel speed is lower than a compression rate fora second higher travel speed.

In various embodiments, the method includes processing the encoded datainto packets, and distributing the packets to the at least twotelecommunication devices.

In various embodiments, determining the communication capability of theat least two telecommunication devices includes successively determinethe communication capability of the at least two telecommunicationdevices, and determining the compression rate includes successivelydetermining the compression rate based on the communication capability.

In various embodiments, a time period for successively determining thecommunication capability and a time period for successively determiningthe compression rate are based on a travel speed of the land vehicleconveyance system.

Further details and aspects of exemplary embodiments of the presentdisclosure are described in more detail below with reference to theappended figures.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are incorporated by reference herein to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

A better understanding of the features and advantages of the disclosedtechnology will be obtained by reference to the following detaileddescription that sets forth illustrative embodiments, in which theprinciples of the technology are utilized, and the accompanying drawingsof which:

FIG. 1 is an exemplary view an autonomous robot fleet;

FIG. 2 is an exemplary front view of a robot vehicle in the autonomousrobot fleet of FIG. 1, shown in comparison to the height of an averageperson;

FIG. 3 is an exemplary flowchart representation of the logic for a fleetmanagement control module associated with a central server for the robotfleet;

FIG. 4 is an exemplary flowchart representation of the logic flow fromthe Fleet Management Control Module through the robot processor to thevarious systems and modules of the robot;

FIG. 5 is a diagram of an exemplary remote human operator system;

FIG. 6 is a diagram of an exemplary visual display of the remote humanoperator system of FIG. 5;

FIG. 7 is a flow chart of an exemplary operation of switching betweenautonomous mode and remote operation mode;

FIG. 8 is a block diagram of exemplary components of the communicationmodule of FIG. 4; and

FIG. 9 is a flow diagram of an exemplary operation of the autonomousvehicle.

DETAILED DESCRIPTION

This disclosure relates to a fully-autonomous and/or semi-autonomousrobot fleet and to systems and method for an autonomous vehicle tocommunicate in different communication environments using multipletelecommunication devices and/or using adaptive data compression. In oneaspect, the present disclosure provides systems and methods for remoteoperation of autonomous vehicles by human operators. Remote operation ofa fully-autonomous or a semi-autonomous vehicle may be appropriate invarious situations. For example, if the autonomous vehicle is requestedto travel to a destination that has not been fully mapped (e.g., largecorporate or university campuses, or public parks, etc.), the autonomousvehicle may not be able to determine how to reach the destination.Accordingly, the capability for a human operator to remotely operate anautonomous vehicle is a beneficial feature. However, with the humanoperator being remote from the autonomous vehicle, communicationsbetween the human operator and the autonomous vehicle should be asreliable as possible. The remote human operator situation is exemplary,and other situations may require reliable communications with anautonomous vehicle. In accordance with aspects of the presentdisclosure, systems and method are provided for an autonomous vehicle tocommunicate in different communication environments using multipletelecommunication devices and/or using adaptive data compression.

Provided herein is a robot fleet having robot vehicles operatingfully-autonomously or semi-autonomously and a fleet management modulefor coordination of the robot fleet, where each robot within the fleetis configured for transporting, delivering or retrieving goods orservices and is capable of operating in an unstructured open or closedenvironment. Each robot can include a power system, a conveyance system,a navigation module, at least one securable compartment or multiplesecurable compartments to hold goods, a controller configurable toassociate each of the securable compartments to an assignable customer acustomer group within a marketplace, or provider and provide entry whenauthorized, a communication module and a processor configured to managethe conveyance system, the navigation module, the sensor system, thecommunication module and the controller.

As used herein, the term “autonomous” includes fully-autonomous,semi-autonomous, and any configuration in which a vehicle can operate ina controlled manner for a period of time without human intervention.

As used herein, the term “fleet,” “sub-fleet,” and like terms are usedto indicate a number of land vehicles operating together or under thesame ownership. In some embodiments the fleet or sub-fleet is engaged inthe same activity. In some embodiments, the fleet or sub-fleet areengaged in similar activities. In some embodiments, the fleet orsub-fleet are engaged in different activities.

As used herein, the term “robot,” “robot vehicle,” “robot fleet,”“vehicle,” “all-terrain vehicle,” and like terms are used to indicate amobile machine that transports persons, cargo, items, and/or goods.Typical vehicles include cars, wagons, vans, unmanned motor vehicles(e.g., tricycles, trucks, trailers, buses, etc.), and unmanned railedvehicles (e.g., trains, trams, etc.), among other types of landvehicles.

As used herein, the term “user,” “operator,” “fleet operator,” and liketerms are used to indicate the entity that owns or is responsible formanaging and operating the robot fleet.

As used herein, the term “customer” and like terms are used to indicatethe entity that requests the services provided the robot fleet.

As used herein, the term “provider,” “business,” “vendor,” “third partyvendor,” and like terms are used to indicate an entity that works inconcert with the fleet owner or operator to utilize the services of therobot fleet to deliver the provider's product from and or return theprovider's product to the provider's place of business or staginglocation.

As used herein, the term “server,” “computer server,” “central server,”“main server,” and like terms are used to indicate a computer or deviceon a network that manages the fleet resources, namely the robotvehicles.

As used herein, the term “controller” and like terms are used toindicate a device that controls the transfer of data from a computer toa peripheral device and vice versa. For example, disk drives, displayscreens, keyboards, and printers all require controllers. In personalcomputers, the controllers are often single chips. As used herein thecontroller is commonly used for managing access to components of therobot such as the securable compartments.

As used herein a “mesh network” is a network topology in which each noderelays data for the network. All mesh nodes cooperate in thedistribution of data in the network. It can be applied to both wired andwireless networks. Wireless mesh networks can be considered a type of“Wireless ad hoc” network. Thus, wireless mesh networks are closelyrelated to Mobile ad hoc networks (MANETs). Although MANETs are notrestricted to a specific mesh network topology, Wireless ad hoc networksor MANETs can take any form of network topology. Mesh networks can relaymessages using either a flooding technique or a routing technique. Withrouting, the message is propagated along a path by hopping from node tonode until it reaches its destination. To ensure that all its paths areavailable, the network must allow for continuous connections and mustreconfigure itself around broken paths, using self-healing algorithmssuch as Shortest Path Bridging. Self-healing allows a routing-basednetwork to operate when a node breaks down or when a connection becomesunreliable. As a result, the network is typically quite reliable, asthere is often more than one path between a source and a destination inthe network. This concept can also apply to wired networks and tosoftware interaction. A mesh network whose nodes are all connected toeach other is a fully connected network.

As used herein, the term “module” and like terms are used to indicate aself-contained hardware component of the central server, which in turnincludes software modules. In software, a module is a part of a program.Programs are composed of one or more independently developed modulesthat are not combined until the program is linked. A single module cancontain one or several routines, or sections of programs that perform aparticular task. As used herein the fleet management module includessoftware modules for managing various aspects and functions of the robotfleet.

As used herein, the term “processor,” “digital processing device” andlike terms are used to indicate a microprocessor or central processingunit (CPU). The CPU is the electronic circuitry within a computer thatcarries out the instructions of a computer program by performing thebasic arithmetic, logical, control and input/output (I/O) operationsspecified by the instructions.

In accordance with the description herein, suitable digital processingdevices include, by way of non-limiting examples, server computers,desktop computers, laptop computers, notebook computers, sub-notebookcomputers, netbook computers, netpad computers, set-top computers,handheld computers, Internet appliances, mobile smartphones, tabletcomputers, personal digital assistants, video game consoles, andvehicles. Those of skill in the art will recognize that many smartphonesare suitable for use in the system described herein. Suitable tabletcomputers include those with booklet, slate, and convertibleconfigurations, known to those of skill in the art.

In some embodiments, the digital processing device includes an operatingsystem configured to perform executable instructions. The operatingsystem is, for example, software, including programs and data, whichmanages the device's hardware and provides services for execution ofapplications. Those of skill in the art will recognize that suitableserver operating systems include, by way of non-limiting examples,FreeBSD, OpenBSD, NetBSD®, Linux, Apple® Mac OS X Server®, Oracle®Solaris®, Windows Server®, and Novell® NetWare®. Those of skill in theart will recognize that suitable personal computer operating systemsinclude, by way of non-limiting examples, Microsoft® Windows®, Apple®Mac OS X®, UNIX®, and UNIX-like operating systems such as GNU/Linux®. Insome embodiments, the operating system is provided by cloud computing.Those of skill in the art will also recognize that suitable mobile smartphone operating systems include, by way of non-limiting examples, Nokia®Symbian® OS, Apple® iOS®, Research In Motion® BlackBerry OS®, Google®Android®, Microsoft® Windows Phone® OS, Microsoft® Windows Mobile® OS,Linux®, and Palm® WebOS®.

In some embodiments, the device includes a storage and/or memory device.The storage and/or memory device is one or more physical apparatus usedto store data or programs on a temporary or permanent basis. In someembodiments, the device is volatile memory and requires power tomaintain stored information. In some embodiments, the device isnon-volatile memory and retains stored information when the digitalprocessing device is not powered. In some embodiments, the non-volatilememory includes flash memory. In some embodiments, the non-volatilememory includes dynamic random-access memory (DRAM). In someembodiments, the non-volatile memory includes ferroelectric randomaccess memory (FRAM). In some embodiments, the non-volatile memoryincludes phase-change random access memory (PRAM). In some embodiments,the device is a storage device including, by way of non-limitingexamples, CD-ROMs, DVDs, flash memory devices, magnetic disk drives,magnetic tapes drives, optical disk drives, and cloud computing basedstorage. In some embodiments, the storage and/or memory device is acombination of devices such as those disclosed herein.

In some embodiments, the digital processing device includes a display tosend visual information to a user. In some embodiments, the display is acathode ray tube (CRT). In some embodiments, the display is a liquidcrystal display (LCD). In some embodiments, the display is a thin filmtransistor liquid crystal display (TFT-LCD). In some embodiments, thedisplay is an organic light emitting diode (OLED) display. In varioussome embodiments, on OLED display is a passive-matrix OLED (PMOLED) oractive-matrix OLED (AMOLED) display. In some embodiments, the display isa plasma display. In some embodiments, the display is a video projector.In some embodiments, the display is interactive (e.g., having a touchscreen or a sensor such as a camera, a 3D sensor, a LiDAR, a radar,etc.) that can detect user interactions/gestures/responses and the like.In still some embodiments, the display is a combination of devices suchas those disclosed herein.

The Fleet of Robot Vehicles

Provided herein is a robot fleet 100, as illustrated in FIG. 1, havingrobot vehicles 101, with each one operating fully-autonomously orsemi-autonomously.

As illustrated in FIG. 2, one exemplary configuration of a robot 101 isa vehicle configured for land travel, such as a small fully-autonomous(or semi-autonomous) automobile. The exemplary fully-autonomous (orsemi-autonomous) automobile is narrow (i.e., 2-5 feet wide), has lowmass and low center of gravity for stability, has multiple securecompartments assignable to one or more customers, retailers and/orvendors, and is designed for moderate working speed ranges (i.e.,1.0-45.0 mph) to accommodate inner-city and residential driving speeds.Additionally, in some embodiments, the land vehicle robot units in thefleet are configured with a maximum speed range from 1.0 mph to about90.0 mph for high speed, intrastate or interstate driving. Each robot inthe fleet is equipped with onboard sensors (e.g., cameras (running at ahigh frame rate, akin to video), LiDAR, radar, ultrasonic sensors,microphones, etc.) and internal computer processing to constantlydetermine where it can safely navigate, what other objects are aroundeach robot, and what it may do.

In some embodiments, the robot fleet is fully-autonomous.

In some embodiments, the robot fleet is semi-autonomous. In someembodiments, and as shown in FIG. 3, it may be necessary to have humaninteraction between the robot 101, a fleet operator, the provider 204and/or the customer 202 to address previously unforeseen issues (e.g., amalfunction with the navigation module, provider inventory issues,unanticipated traffic or road conditions, or direct customer interactionafter the robot arrives at the customer location).

In some embodiments, the robot fleet 100 is controlled directly by theuser 202. In some embodiments, it may be necessary to have direct humaninteraction between the robot 101 and/or the fleet operator to addressmaintenance issues such as mechanical failure, electrical failure or atraffic accident. Aspects of the present disclosure relating to remoteoperation of the robot vehicles by a human operator will be described inmore detail in connection with FIGS. 5-7.

In some embodiments, the robot fleet is configured for land travel. Insome embodiments, each robot land vehicle in the fleet is configuredwith a working speed range from 13.0 mph to 45.0 mph. In someembodiments, the land vehicle robot units in the fleet are configuredwith a maximum speed range from 13.0 mph to about 90.0 mph.

In some embodiments of the robot fleet, the autonomous robots within thefleet are operated on behalf of third party vendor/service provider.

For example, a fleet management service is established to provide aroving delivery service for a third party beverage/food provider (e.g.,a coffee service/experience for a third party vendor). It is conceivedthat the fleet management service would provide a sub-fleet of “whitelabel” vehicles carrying the logo and products of that third partybeverage/food provider to operate either fully-autonomously orsemi-autonomously to provide this service.

In some embodiments of the robot fleet, the autonomous robots within thefleet are further configured to be part of a sub-fleet of autonomousrobots, and each sub-fleet is configured to operate independently or intandem with multiple sub-fleets having two or more sub-fleets.

For example, a package delivery service is configured to offer multiplelevels of service such as “immediate dedicated rush service,”“guaranteed morning/afternoon delivery service,” or “general deliveryservice.” A service provider could then have a dedicated sub-fleet ofdelivery vehicles for each type of service within their overall fleet ofvehicles. In yet another example, a third party has priority over acertain number of vehicles in the fleet. In so doing, they can guaranteea certain level of responsiveness. When they are not using the vehicles,the vehicles are used for general services within the fleet (e.g., otherthird parties).

In some embodiments, the robot fleet is controlled directly by the user.

In some embodiments, there will likely be times when a vehicle breaksdown, has an internal system or module failure or is in need ofmaintenance. For example, in the event that the navigation module shouldfail, each robot within the fleet is configurable to allow for directcontrol of the robot's processor to override the conveyance and sensorsystems (i.e., cameras, etc.) by a fleet operator to allow for the safereturn of the vehicle to a base station for repair.

The Operating Environments

In some embodiments, an unstructured open environment is a non-confinedgeographic region accessible by navigable pathways, including, forexample, public roads, private roads, bike paths, open fields, openpublic lands, open private lands, and/or pedestrian walkways.

In some embodiments, a closed environment is a confined, enclosed orsemi-enclosed structure accessible by navigable pathways, including, forexample, open areas or rooms within commercial architecture, with orwithout structures or obstacles therein, public or dedicated aisles,hallways, tunnels, ramps, elevators, conveyors, and/or pedestrianwalkways.

In some embodiments, the navigation module controls routing of theconveyance system of the robots in the fleet in the unstructured open orclosed environments.

The Fleet Management Module

In some embodiments of the robot fleet 100, the fleet includes a fleetmanagement module 120 (associated with a central server) forcoordination of the robot fleet 100 and assignment of tasks for eachrobot 101 in the fleet. The fleet management module coordinates theactivity and positioning of each robot in the fleet. In addition tocommunicating with the robot fleet, fleet owner/operator and/or user,the fleet management module also communicates withproviders/vendors/businesses and customers to optimize behavior of theentire system.

The fleet management module works in coordination with a central server110, typically located in a central operating facility owned or managedby the fleet owner 200.

As illustrated in FIG. 3, in various embodiments, a request is sent to amain server 110 (typically located at the fleet owner's or fleetmanager's location), which then communicates with the fleet managementmodule 120. The fleet management module then relays the request to theappropriate provider 204 of the service (e.g., restaurant, deliveryservice, vendor or retailer) and an appropriate robot or robots 101 inthe fleet. The best appropriate robot(s) in the fleet within thegeographic region and typically closest to the service provider, is thenassigned the task, and the provider of the service 204 then interactswith that robot 101 at their business (e.g., loading it with goods, ifneeded). The robot then travels to the customer 202 and the customerinteracts with the robot to retrieve their goods or service (e.g., thegoods ordered). An interaction can include requesting the robot to openits compartment 102, 104 through the customer's app or through a userinterface on the robot itself (using, e.g., RFID reader and customerphone, a touchpad, a keypad, voice commands, vision-based recognition ofthe person, etc.). Upon completion of the delivery (or retrieval, ifappropriate), the robot reports completion of the assignment and reportsback to the fleet management module for re-assignment.

As further illustrated in FIG. 4, and previously noted, in someembodiments, the fleet management module 120 handles coordination of therobot fleet 100 and assignment of tasks for each robot 101 in the fleet.The fleet management module coordinates the activity and positioning ofeach robot in the fleet. The fleet management module also communicateswith vendors/businesses 204 and customers 202 to optimize behavior ofentire system. It does this by utilizing the robot's processor 125 toprocess the various inputs and outputs from each of the robot's systemsand modules, including: the conveyance system 130, the power system 135,the navigation module 140, the sensor system 170, 175, the communicationmodule 160, and the controller 150, to effectively manage and coordinatethe various functions of each robot in the fleet.

In some embodiments, the robot may be requested for a pick-up of an item(e.g., a document) with the intent of delivery to another party. In thisscenario, the fleet management module would assign the robot to arriveat a given location, assign a securable compartment for receipt of theitem, confirm receipt from the first party to the fleet managementmodule, then proceed to the second location where an informed receivingparty would recover the item from the robot using an appropriate PIN orother recognition code to gain access to the secure compartment. Therobot would then reports completion of the assignment and report back tothe fleet management module for re-assignment.

Conveyance Systems

Each robot vehicle 101 in the fleet includes a conveyance system 130(e.g., a drive system with a propulsion engine, wheels, treads, wings,rotors, blowers, rockets, propellers, brakes, etc.).

As noted previously, the robot fleet is configurable for land travel.Typical vehicles include cars, wagons, vans, unmanned motor vehicles(e.g., tricycles, trucks, trailers, buses, etc.), and unmanned railedvehicles (e.g., trains, trams, etc.), among other types of landvehicles.

In one exemplary embodiment, a robot land vehicle 101 is configured witha traditional 4-wheeled automotive configuration comprising conventionalsteering and braking systems. The drive train is configurable forstandard 2-wheel drive or 4-wheel all-terrain traction drive. Thepropulsion system (engine) is configurable as a gas engine, a turbineengine, an electric motor and/or a hybrid gas/electric engine.Alternatively, the robot could be configured with an auxiliary solarpower system 135 to provide back-up emergency power or power for minorlow-power sub-systems.

Alternative configurations of components to a total drive system with apropulsion engine could include wheels, treads, wings, rotors, blowers,rockets, propellers, brakes, etc.

The Power System

In some embodiments, each robot of the robot fleet is configured withone or more power sources, which include the power system 135 (e.g.,battery, solar, gasoline, propane, etc.).

Navigation Module

Each robot in the fleet further includes a navigation module 140 fornavigation in the unstructured open or closed environments (e.g.,digital maps, HD maps, GPS, etc.). In some embodiments, the fleet 100relies on maps generated by the user, operator, or fleet operator,specifically created to cover the intended environment where the robotis configured to operate. These maps would then be used for generalguidance of each robot in the fleet, which would augment thisunderstanding of the environment by using a variety of on-board sensorssuch as cameras, LiDAR, altimeters or radar to confirm its relativegeographic position and elevation.

In some embodiments, for navigation, the fleet of robots uses internalmaps to provide information about where they are going and the structureof the road environment (e.g., lanes, etc.) and combine this informationwith onboard sensors (e.g., cameras, LiDAR, radar, ultrasound,microphones, etc.) and internal computer processing to constantlydetermine where they can safely navigate, what other objects are aroundeach robot and what they may do. In still other embodiments, the fleetincorporates on-line maps to augment internal maps. This information isthen combined to determine a safe, robust trajectory for the robot tofollow and this is then executed by the low level actuators on therobot.

In some embodiments, the fleet relies on a global positioning system(GPS) that allows users to determine their exact location, velocity, andtime 24 hours a day, in all weather conditions, anywhere in the world.

In some embodiments, the fleet of robots will use a combination ofinternal maps, sensors and GPS systems to confirm its relativegeographic position and elevation.

In some embodiments, the autonomous fleet is strategically positionedthroughout a geographic region in anticipation of a known demand.

Over time, a user 202 and/or a vendor 204 can anticipate demand forrobot services by storing data concerning how many orders (and what typeof orders) are made at particular times of day from different areas ofthe region. This can be done for both source (e.g., restaurants, grocerystores, general businesses, etc.) and destination (e.g., customer, otherbusinesses, etc.). Then, for a specific current day and time, thisstored data is used to determine what the optimal location of the fleetis given the expected demand. More concretely, the fleet can bepositioned to be as close as possible to the expected source locations,anticipating these source locations will be the most likely new ordersto come into the system. Even more concretely, it is possible toestimate the number of orders from each possible source in the next hourand weight each source location by this number. Then one can positionthe fleet so that the fleet optimally covers the weighted locationsbased on these numbers.

In some embodiments of the robot fleet, the positioning of robots can becustomized based on: anticipated use, a pattern of historical behaviors,or specific goods being carried.

Sensor Systems

As noted previously, each robot is equipped with a sensor system 170,which includes at least a minimum number of onboard sensors (e.g.,cameras (for example, those running at a high frame rate akin to video),LiDAR, radar, ultrasonic sensors, microphones, etc.) and internalcomputer processing 125 to constantly determine where it can safelynavigate, what other objects are around each robot, and what it may dowithin its immediate surroundings.

In some embodiments, the robots of the robot fleet further includeconveyance system sensors 175 configured to: monitor drive mechanismperformance (e.g., the propulsion engine); monitor power system levels135 (e.g., battery, solar, gasoline, propane, etc.); or monitor drivetrain performance (e.g., transmission, tires, brakes, rotors, etc.).

Communications Module

Each robot in the fleet further includes a communication module 160configurable to receive, store and send data to the fleet managementmodule, to a user, to and from the fleet management module 120, and toand from the robots in the fleet 100. In some embodiments, the data isrelated to at least user interactions and the robot fleet interactions,including, for example, scheduled requests or orders, on-demand requestsor orders, or a need for self-positioning of the robot fleet based onanticipated demand within the unstructured open or closed environments.

In some embodiments, each robot in the fleet includes at least onecommunication module configurable to receive, store and transmit data,and to store that data to a memory device, for future data transfer ormanual download.

In some embodiments, each business 204 and customer 202 has their ownapp/interface to communicate with the fleet operator 200 (e.g., “Nurocustomer app” for customers on their phone, “Nuro vendor app” forbusinesses on a tablet or phone or their internal computer system,etc.).

In some embodiments, the communication to the user and the robots in thefleet, between the robots of the fleet, and between the user and therobots in the fleet, occurs via wireless transmission.

In some embodiments, the user's wireless transmission interactions andthe robot fleet wireless transmission interactions occur via mobileapplication transmitted by an electronic device and forwarded to thecommunication module via: a central server, a fleet management module,and/or a mesh network.

In some embodiments, one preferred method of communication is to usecellular communication between the fleet manager and fleet of robots,(e.g., 3G, 4G, 5G, or the like). Alternatively, the communicationbetween the fleet control module and the robots could occur viasatellite communication systems.

In some embodiments, a customer uses an app (either on a cellphone,laptop, tablet, computer or any interactive device) to request a service(e.g., an on-demand food order or for a mobile marketplace robot to cometo them).

In some embodiments, the electronic device includes: a phone, a personalmobile device, a personal digital assistant (PDA), a mainframe computer,a desktop computer, a laptop computer, a tablet computer, and/orwearable computing device such as a communication headset, smartglasses, a contact lens or lenses, a digital watch, a bracelet, a ring,jewelry, or a combination thereof.

In accordance with aspects of the present disclosure, the communicationmodule 160 of each robot vehicle can be configured to communicate with aremote human operator. For example, the communication module 160 cancommunicate environmental videos captured by cameras running at a highframe rate to a remote operator, to enable the remote human operator tovisualize the vehicle's surroundings. Further, the communication module160 can receive instructions from the remote human operator forcontrolling the conveyance system to move the robot vehicle. Furtheraspects of remotely operating an autonomous vehicle by a human operatorwill be described in more detail in connection with FIGS. 5-7.

In another aspect of the present disclosure, and with reference also toFIG. 8, the communication module 160 can include multipletelecommunication devices 810 a˜n that enable more reliablecommunications by the autonomous vehicle 101. In various embodiments,each telecommunication device can include an antenna 812, a modem 814,and an identifier 816 which identifies the telecommunication device,among other components. In various embodiments, the antenna 812 and themodem 814 can be configured for one or more communication technologies,such as, without limitation, UMTS, CDMA EV-DO, GSM EDGE, 4G LTE, WiMAX,5G, and/or satellite communications, among others. In variousembodiments, the identifier 816 can be implemented by a SIM card. Invarious embodiments, each telecommunication device 810 a˜n can operateindependently from each other but can also operate simultaneously witheach other. For example, various telecommunication devices 810 a˜n canoperate on the same telecommunications network or can operate ondifferent telecommunications networks, such as cellular carriers, andeach telecommunication device can have a separate and independentcommunication connection from the other telecommunication devices 810a˜n.

In the illustrated embodiment, the communication module 160 includes acontroller or processor 820 which communicates with eachtelecommunication device 810 a˜n and can control and coordinate theoperations of the telecommunication devices 810 a˜n. For convenience,the controller/processor 820 will be referred as a “controller,” but itwill be understood that the controller 820 can be implemented as aprocessor. In various embodiments, the controller 820 can determine acommunication capacity of each telecommunication device 810 a˜n. Invarious embodiments, the communication capacity of a telecommunicationdevice can be reported by the telecommunication device to the controller820. In various embodiments, the communication capacity can be estimatedby the controller 820 by determining signal strength, latency,throughput, rate of packet loss, and/or other metrics of atelecommunication device's communication capacity. In variousembodiments, the controller 820 can determine such metrics using apredetermined server configured for such testing. In variousembodiments, the controller 820 can determine based on such metrics thata telecommunication device is unreliable for performing communicationsand should not be used at a particular point in time.

In various embodiments, the controller 820 can coordinate whichtelecommunications devices 810 a˜n should be used for communications bythe autonomous vehicle 101 and how data should be distributed to suchtelecommunications devices 810 a˜n. In various embodiments, thecontroller 820 can exclude any telecommunication device that itdetermines to be unreliable. Additionally, for telecommunicationsdevices that are estimated to have higher communication capacity, agreater amount or higher rate of data can be sent to suchtelecommunications devices to be communicated. For telecommunicationsdevices that are estimated to have lower communication capacity, alesser amount or lower rate of data can be sent to suchtelecommunications devices to be communicated. The controller 820 canperform such coordination.

Data can be received by the communications module 160 via one or morecommunications connections 830, which can include hard-wiredcommunication buses, Ethernet cables, and/or wireless connections suchas WiFi or Bluetooth, among other connections. The communicationsconnections 830 can communicate with one or more other modules of theautonomous vehicle 101, such as various modules shown in FIG. 4.

The embodiments described above are exemplary, and variations arecontemplated to be within the scope of the present disclosure. Forexample, in various embodiments, the controller/processor 820 may beoutside the communication module 160 and can communicate with thetelecommunication devices 810 a˜n via the communications connections830. In various embodiments, the processor 125 of the autonomous vehicle101 can perform the operations described above. Other variations arecontemplated to be within the scope of the present disclosure.

Controller(s) and Processor(s)

In some embodiments, each robot in the robot fleet is equipped with oneor more processors 125 capable of both high-level computing forprocessing as well as low-level safety-critical computing capacity forcontrolling the hardware. The at least one processor is configured tomanage the conveyance system, the navigation module, the sensor system,instructions from the fleet management module, the communication moduleand the controller.

Further still, in some embodiments, each robot in the robot fleet isequipped with a controller 150 configurable to associate each one of thesecurable compartments 102, 104 to an assignable customer 202 orprovider 204 and provide entry when authorized.

The following will now describe control and processing in connectionwith remote operation of the robot vehicle by a human operator. Asmentioned above, remote operation of a fully-autonomous or asemi-autonomous vehicle may be appropriate in various situations. Thecapability for a human operator to remotely operate an autonomousvehicle is beneficial even where the autonomous vehicle can be locallyoperated by a human operator. This capability becomes much moreimportant where the interior space of the autonomous vehicle isconfigured to maximize commercial carrying capacity and includes nospace for a human operator to locally operate the vehicle from withinthe autonomous vehicle.

In various embodiments, an autonomous vehicle in accordance with aspectsof the present disclosure includes an interior space to hold a humanoperator to locally control the autonomous vehicle, but the vehicle canalso be controlled remotely by a remote human operator. In variousembodiments, an autonomous vehicle in accordance with aspects of thepresent disclosure includes no interior space to hold a human operatorto locally control the autonomous vehicle. Rather, in accordance withaspects of the present disclosure, a human operator can remotely operatethe autonomous vehicle. Such a configuration provides uniqueconsiderations. In contrast to an existing configuration in which ahuman operator located in an autonomous vehicle can override theautonomous operation and take over manual operation to avoid a hazard,various embodiments of the present disclosure do not include space in anautonomous vehicle for a human operator. Because human operation wouldbe remote from the location of the autonomous vehicle, one aspect of thepresent disclosure provides systems and methods for improvingtelecommunications with the autonomous vehicle. Remote human operationis merely one example of a situation that would need improvedcommunications with autonomous vehicle. The present disclosure appliesto such situations as well.

Referring now to FIG. 4, and as described above herein, an autonomousvehicle includes a processor 125 and a controller 150 for controllingvarious systems and modules of the autonomous vehicle and includes acommunication module 160 for communicating with external systems. In oneaspect of the present disclosure, the communication module 160 cancommunicate with a remote human operator system, which can be part of orseparate from the fleet management module 120.

FIG. 5 shows an exemplary embodiment of a remote human operator system300, which includes communication/processing equipment 310 and a humanoperator station 320. The human operator station 320 can resemble adriver station in a typical automobile and can include a driver seat322, a steering wheel 324, acceleration and brake pedals 326, a gearshifter 328, and a visual interface 330. In the illustrated embodiment,the visual interface 330 is in the form of a virtual-reality (VR) oraugmented-reality (AR) headset. In various embodiments, the visualinterface can include one or more display screens, such as LED, LCD,and/or OLED display screens. In various embodiments, the human operatorstation 320 can be configured to have the approximate touch response ofan actual driver station in an automobile. For example, the steeringwheel 324 can be configured to have the touch response of power steeringin an automobile, and the pedals 326 can be configured to approximatethe resistance of pedals in an actual automobile.

The instruments 324-328 of the human operator station 320 can beconnected or coupled to communication/processing equipment 310, whichenables communication between the human operator station 320 and theautonomous vehicle. In the illustrated embodiment, the human operatorstation 320 is connected to the communication/processing equipment 310by physical cables. In various embodiments, the human operator station320 can be wirelessly coupled to the communication/processing equipment310 using technologies such as Bluetooth. In various embodiments, thehuman operator station 320 need not be directly connected to thecommunication/processing equipment 310 and can be coupled to thecommunication/processing equipment 310 through intermediate devicesand/or networks.

In various embodiments, the communication/processing equipment 310 canestablish communications using various communications technologies,including, for example, IEEE 802.11x (WiFi), cellular 3G/4G/5G, wiredcommunications, and/or other wired or wireless communication protocols.The communication/processing equipment 310 includes one or moreprocessors, memories, machine instructions, and/or hardware forprocessing visual information for display by the visual interface 330.Persons skilled in the field will recognize various ways ofcommunicating, processing, and displaying visual information.

The communication/processing equipment 310 also processes signals fromthe human operator station 320 and translates them into controlinstructions for controlling the autonomous vehicle, such as controlinstructions for controlling the conveyance system (130, FIG. 4) of theautonomous vehicle to perform travel. In this manner, when the humanoperator turn turns the steering wheel 324, the communication/processingequipment 310 sends corresponding control instructions to the autonomousvehicle to instruct the vehicle to turn. As another example, when thehuman operator accelerates or brakes using the pedals 326 of the humanoperator station 320, the communication/processing equipment 310 sendscorresponding control instructions to the autonomous vehicle to instructthe vehicle to accelerate or brake, respectively. The embodiments andconfigurations of FIG. 5 are exemplary, and other configurations andvariations are contemplated to be within the scope of the presentdisclosure. For example, where the autonomous vehicle is a rail vehicle,the remote human operator system 300 may have a human operator station320 that reflects the actual operator station on a typicalnon-autonomous vehicle of the same or similar type.

Referring also to FIG. 6, there is shown a diagram of an exemplaryvisual display, which can be displayed in a VR/AR headset or on adisplay screen, or otherwise. As described above herein, each robotvehicle is equipped with a sensor system which can include cameras, suchas for example, those running at a high frame rate akin to video, andother sensors, and include internal computer processing to determinewhat other objects are around each robot vehicle. In accordance withaspects of the present disclosure, this visual information captured bythe sensor system of the autonomous vehicle can be processed andcommunicated to the remote human operator system 300 for display on thevisual interface 330. In various embodiments, the visual display canpresent the autonomous vehicle's surrounding environment from the pointof view of the human operator, such that the displayed content turns asthe driver's head turns. In various embodiments, the human operatorstation 320 can include multiple display screens (not shown) thatsurround the human operator station, and the display screens cansimultaneously display the surrounding environment of the autonomousvehicle. Other configurations and variations are contemplated to bewithin the scope of the present disclosure.

With continuing reference to FIG. 6, the visual display can includevarious indicators that inform the human operator of certain conditions.As an example, the visual display can include a mode indicator 332 tospecify whether the autonomous vehicle is operating in autonomous modeor in remote operation mode. In the autonomous mode, the humanoperator's interactions with the human operator station 320 do notaffect the movement of the autonomous vehicle 420. In the remoteoperation mode, the human operator controls the movement of theautonomous vehicle 420 by interacting with the human operator station320. In various embodiments, the human operator station can include amechanism (not shown) for switching between autonomous mode and remoteoperation mode, such as a physical switch or a touch interface button, avoice-activated command, or another mechanism. The illustrated visualdisplay also includes a warning indicator that can alert the humanoperator to hazard conditions 334. The layout and configuration of thevisual display of FIG. 6 is merely exemplary, and variations arecontemplated to be within the scope of the present disclosure. Forexample, where the autonomous vehicle is a rail vehicle, the visualinterface of the remote human operator system 300 can be tailored to thevisual elements for operating such a vehicle.

FIG. 7 is a flow diagram of an operation of the autonomous vehicle ofswitching between autonomous mode and remote operation mode. Theillustrated operation begins with the autonomous vehicle operating inautonomous mode 602, in which no human intervention is needed to causethe autonomous vehicle to travel to various destinations. When theautonomous vehicle receives an instruction to switch from autonomousmode to remote control mode 604, the autonomous vehicle can activateremote control mode and receive control instructions from the remotehuman operator system 606.

Accordingly, in the remote operation mode 606, the autonomous vehiclegenerally does not control its own movement but can continue to monitorthe surrounding environment. The remote human operator can enablecertain autonomous capabilities while in remote operation mode 606, andthe autonomous vehicle can perform the autonomous capabilities based onthe monitoring of the surrounding environment. Additionally, if theautonomous vehicle detects a hazard condition 608, the autonomousvehicle can, in various situations, override the remote operation modeand revert to full autonomous mode 610. For example, a hazard conditionmay include an imminent collision with an object in the autonomousvehicle's surrounding environment, such as another vehicle or a person.Persons skilled in the field will recognize ways to determine that animminent collision may occur, including using vehicle trajectory andestimating object trajectories. Another hazard condition may include alane departure when no turn signal has been activated.

After overriding remote operation mode and/or reverting to autonomousmode 610, the autonomous vehicle can operate to autonomously mitigate oravoid the hazard condition 612.

The autonomous vehicle can communicate the hazard indication and theswitch to autonomous mode to the remote human operator system 614. Invarious embodiments, this communication can occur at the time when thehazard condition is detected and the autonomous mode is activated. Thiscommunication can cause the visual display of the human operator systemto display a hazard indication. In various embodiments, the visualdisplay of the human operator system can display a different hazardindication for different hazard conditions, including differentpictorial or text indication. In various embodiments, the remote humanoperator system can provide an audible, tactile, haptic, and/or otherphysical or non-physical hazard indication.

In various embodiments, the visual display of the human operator systemcan highlight objects on the visual display relating to a hazardcondition, such as highlighting traffic lights or road signs ordisplaying them as graphical icons. In various embodiments, the visualdisplay of the human operator system highlight potential hazardconditions, such as surrounding objects such as vehicles, pedestrians,cyclists, obstacles, lights, signs, lane lines, turning lanes, andcurbs, among other things. These features can be dynamic performed bythe autonomous vehicle and/or the remote human operator system based ondetected objects. In various embodiments, the autonomous vehicle and/orthe remote human operator system can determine a recommended path aroundsurrounding objects and can provide indications to the human operator asa guide for the recommended path. In various embodiments, theindications can include haptic feedback through steering wheel of theremote human operator system and/or a projected path displayed onto thevisual display.

Other variations are contemplated to be within the scope of the presentdisclosure.

The operation of FIG. 7 can maintain autonomous mode 602 until itreceives another instruction to switch to remote operation mode 604.Accordingly, described above herein are systems and methods for enablingremote human operation of an autonomous vehicle, and for the autonomousvehicle to override the remote operation to mitigate hazard conditions.

In accordance with one aspect, and as mentioned above, the presentdisclosure provides systems and methods for communicating in differentcommunication environments using multiple telecommunication devicesand/or using adaptive data compression, including communicating asurrounding environment of an autonomous vehicle to a remote humanoperator. In various embodiments, adaptive data compression can beimplemented in different ways. In various embodiments, data compressioncan be implemented by the processor 125 and/or controller 150 of FIG. 4,in the communication module 160, and/or in the sensor system 170. Invarious embodiments, the communication module 160 can perform encodingto compress data using various technologies, such as Lempel-Ziv-Welchcompression, run-length encoding, and/or Huffman coding, among others.In various embodiments, the sensor system 170 can perform compressionsuch as image compression for images captured by a camera, includingMPEG compression, H.264 compression, and/or H.265 compression, amongothers. In various embodiments, some or all of the compression describedabove can be handled by the processor 125 and/or the controller 150 ofFIG. 4.

In accordance with an aspect of the present disclosure, the adaptivedata compression can be based on the communication capacity of thetelecommunication devices 810 a˜n of the communication module 160. Ahigher communication capacity may require less data compression, and alower communication capacity may require greater data compression. Invarious embodiments, the processor 125 of the autonomous vehicle 101 candetermine how much data compression is appropriate for an estimatecommunication capacity. In various embodiments, the adaptive datacompression can be implemented by a look-up table which correlatescommunication capacity with how compression should be performed. Forexample, in various embodiments, a very high communication capacity maynot require any data compression in the communication module 160, thesensor module 170, or the processor 125. In various embodiments, a verylow communication capacity may require data compression in each of thecommunication module 160, the sensor module 170, and the processor 125.In between, various communication capacities may require datacompression in just one or two of the communication module 160, thesensor module 170, or the processor 125. In this way, the amount of datacompression can be adaptively varied based on communication capacity.

In accordance with an aspect of the present disclosure, the adaptivedata compression can be based on the travel speed of the autonomousvehicle 101. For example, a higher travel speed may require fastercommunication by the autonomous vehicle to the remote human operator, sothat the remote human operator can more reliably see the vehicle'ssurrounding environment as it changes at the higher travel speed. Invarious embodiments, a higher travel speed can correspond to greaterdata compression so that the surrounding environment can be conveyedmore quickly to the remote human operator. When the autonomous vehicletravels at a lower travel speed, the remote human operator may not needto see changes in the surrounding environment as quickly. In variousembodiments, a lower travel speed can correspond to less datacompression. In various embodiments, the processor 125 of the autonomousvehicle 101 can determine how much data compression is appropriate for aparticular travel speed. In various embodiments, the adaptive datacompression can be implemented by a look-up table which correlatestravel speed with how compression should be performed.

In various embodiments, an autonomous vehicle can perform adaptive datacompression based on both communication capacity and travel speed. It iscontemplated that adaptive data compression can depend on factors orconsiderations other than communication capacity and travel speed. Invarious embodiments, the adaptive data compression can be implemented bya look-up table which correlates the various factors/considerations withhow data compression should be performed.

The embodiments described above are exemplary, and variations arecontemplated to be within the scope of the present disclosure. Forexample, in various embodiments, the adaptive data compression can bebased on one or more other metrics, such as communication latency orantenna signal strength in the communication module 160. In variousembodiments, each place where data compression occurs can implementdifferent degrees of data compression. For example, the communicationmodule 160 can implement multiple degrees of data compression, and thesensor module 170 can separately implement multiple degrees of datacompression. The processor 125 of the autonomous vehicle 101 candetermine which degrees of data compression are needed from variousmodules. In various embodiments, data compression can be implemented bydevices or modules different from those shown or described herein. Invarious embodiments, the autonomous vehicle 101 can include hardwareand/or software components that implement video encoding/decoding and/oraudio encoding/decoding, and such hardware and/or software can bestandalone or can be integrated into other components.

Referring now to FIG. 9, there is shown an exemplary operation of anautonomous vehicle 101. At block 910, the autonomous vehicle determinesa communication capacity of at least two telecommunication devices whilethe land vehicle conveyance system performs travel. As described aboveherein, the two or more telecommunication devices can independentlyperform communications and each telecommunication device can have adifferent communication capacity. At block 910, the autonomous vehicledetermines the travel speed of the land vehicle conveyance system. Atblock 920, the autonomous vehicle captures image data of the surroundingenvironment of the vehicle, such as a video of the surroundingenvironment. At block 940, the autonomous vehicle determines a datacompression rate based on the communication capacity or based on thetravel speed, or based on both the communication capacity and the travelspeed. For example, a higher communication capacity may require lesscompression while a lower communication capacity may require highercompression. Additionally, a higher travel speed may require lowercompression. At block 950, the autonomous vehicle compresses the imagedata based on the compression rate, and at step 960, the autonomousvehicle communicates the encoded data using the telecommunicationdevices. In various embodiments, the autonomous vehicle can communicatethe encoded data in data packets, and the data packets can bedistributed to the telecommunication devices based on their respectivecommunication capacities.

In various embodiments, particular portions of the operation of FIG. 9may be performed multiple times or successively before other portionsare performed. For example, block 940 can be performed successively toupdate a compression rate as the autonomous vehicle travels. Block 950can be performed multiple times based on a compression rate and beforeblock 950 updates the compression rate. In various embodiments, block950 can update the compression rate more often when the autonomousvehicle travels at a higher speed because communications conditions andcapacity may change quickly. In various embodiments, block 950 canupdate the compression rate less often when the autonomous vehicletravels at a lower speed because communications conditions and capacitymay change slowly.

In various embodiments, particular portions of the operation of FIG. 9may be performed in parallel. For example, block 930 can capture imagedata of the surrounding environment, and in parallel, block 960 cancommunicate encoded data via the telecommunication devices. Accordingly,the operations of FIG. 9 are exemplary, and variations are contemplatedto be within the scope of the present disclosure.

Additional Features

The embodiments disclosed herein are examples of the disclosure and maybe embodied in various forms. For instance, although certain embodimentsherein are described as separate embodiments, each of the embodimentsherein may be combined with one or more of the other embodiments herein.Specific structural and functional details disclosed herein are not tobe interpreted as limiting, but as a basis for the claims and as arepresentative basis for teaching one skilled in the art to variouslyemploy the present disclosure in virtually any appropriately detailedstructure Like reference numerals may refer to similar or identicalelements throughout the description of the figures.

The phrases “in an embodiment,” “in embodiments,” “in variousembodiments,” “in some embodiments,” or “in other embodiments” may eachrefer to one or more of the same or different embodiments in accordancewith the present disclosure. A phrase in the form “A or B” means “(A),(B), or (A and B).” A phrase in the form “at least one of A, B, or C”means “(A); (B); (C); (A and B); (A and C); (B and C); or (A, B, andC).”

Any of the herein described methods, programs, algorithms or codes maybe converted to, or expressed in, a programming language or computerprogram. The terms “programming language” and “computer program,” asused herein, each include any language used to specify instructions to acomputer, and include (but is not limited to) the following languagesand their derivatives: Assembler, Basic, Batch files, BCPL, C, C+, C++,Delphi, Fortran, Java, JavaScript, machine code, operating systemcommand languages, Pascal, Perl, PL1, scripting languages, Visual Basic,metalanguages which themselves specify programs, and all first, second,third, fourth, fifth, or further generation computer languages. Alsoincluded are database and other data schemas, and any othermeta-languages. No distinction is made between languages which areinterpreted, compiled, or use both compiled and interpreted approaches.No distinction is made between compiled and source versions of aprogram. Thus, reference to a program, where the programming languagecould exist in more than one state (such as source, compiled, object, orlinked) is a reference to any and all such states. Reference to aprogram may encompass the actual instructions and/or the intent of thoseinstructions.

The systems described herein may also utilize one or more controllers toreceive various information and transform the received information togenerate an output. The controller may include any type of computingdevice, computational circuit, or any type of processor or processingcircuit capable of executing a series of instructions that are stored ina memory. The controller may include multiple processors and/ormulticore central processing units (CPUs) and may include any type ofprocessor, such as a microprocessor, digital signal processor,microcontroller, programmable logic device (PLD), field programmablegate array (FPGA), or the like. The controller may also include a memoryto store data and/or instructions that, when executed by the one or moreprocessors, causes the one or more processors to perform one or moremethods and/or algorithms.

Any of the herein described methods, programs, algorithms or codes maybe converted to, or expressed in, a programming language or computerprogram. The terms “programming language” and “computer program,” asused herein, each include any language used to specify instructions to acomputer, and include (but is not limited to) the following languagesand their derivatives: Assembler, Basic, Batch files, BCPL, C, C+, C++,Delphi, Fortran, Java, JavaScript, machine code, operating systemcommand languages, Pascal, Perl, PL1, scripting languages, Visual Basic,metalanguages which themselves specify programs, and all first, second,third, fourth, fifth, or further generation computer languages. Alsoincluded are database and other data schemas, and any othermeta-languages. No distinction is made between languages which areinterpreted, compiled, or use both compiled and interpreted approaches.No distinction is made between compiled and source versions of aprogram. Thus, reference to a program, where the programming languagecould exist in more than one state (such as source, compiled, object, orlinked) is a reference to any and all such states. Reference to aprogram may encompass the actual instructions and/or the intent of thoseinstructions.

It should be understood that the foregoing description is onlyillustrative of the present disclosure. Various alternatives andmodifications can be devised by those skilled in the art withoutdeparting from the disclosure. Accordingly, the present disclosure isintended to embrace all such alternatives, modifications and variances.The embodiments described with reference to the attached drawing figuresare presented only to demonstrate certain examples of the disclosure.Other elements, steps, methods, and techniques that are insubstantiallydifferent from those described above and/or in the appended claims arealso intended to be within the scope of the disclosure.

What is claimed is:
 1. An autonomous land vehicle comprising: a landvehicle conveyance system; at least two telecommunication devices thatare configured to perform wireless communication independently of eachother and that are capable of simultaneously performing wirelesscommunication while the land vehicle conveyance system performs travel;an imaging device configured to capture image data of a surroundingenvironment; a video encoder configured to encode the image data; one ormore processors; and at least one memory coupled to the one or moreprocessors and storing instructions which, when executed by the one ormore processors, cause the autonomous land vehicle to: travel using theland vehicle conveyance system; determine a communication capability ofthe at least two telecommunication devices while the land vehicleconveyance system performs travel; determine a compression rate for thevideo encoder based on the communication capability; encode the imagedata using the video encoder based on the compression rate to generateencoded data; and communicate the encoded data using at least one of theat least two telecommunication devices based on the communicationcapability, wherein the communication capability includes a totalcommunication capacity of the at least two telecommunication devices,wherein the compression rate for a first lower total communicationcapacity is higher than the compression rate for a second higher totalcommunication capacity.
 2. An autonomous land vehicle comprising: a landvehicle conveyance system; at least two telecommunication devices thatare configured to perform wireless communication independently of eachother and that are capable of simultaneously performing wirelesscommunication while the land vehicle conveyance system performs travel;an imaging device configured to capture image data of a surroundingenvironment; a video encoder configured to encode the image data; one ormore processors; and at least one memory coupled to the one or moreprocessors and storing instructions which, when executed by the one ormore processors, cause the autonomous land vehicle to: travel using theland vehicle conveyance system; determine a communication capability ofthe at least two telecommunication devices while the land vehicleconveyance system performs travel; determine a compression rate for thevideo encoder based on the communication capability; encode the imagedata using the video encoder based on the compression rate to generateencoded data; and communicate the encoded data using at least one of theat least two telecommunication devices based on the communicationcapability, wherein in determining the communication capability of theat least two telecommunication devices, the instructions, when executedby the one or more processors, cause the autonomous land vehicle todetermine that communication is unstable over a telecommunication deviceof the at least two telecommunication devices, and wherein incommunicating the encoded data using at least one of the at least twotelecommunication devices, the instructions, when executed by the one ormore processors, cause the autonomous land vehicle to communicate theencoded data without using the telecommunication device having unstablecommunication.
 3. An autonomous land vehicle comprising: a land vehicleconveyance system; at least two telecommunication devices that areconfigured to perform wireless communication independently of each otherand that are capable of simultaneously performing wireless communicationwhile the land vehicle conveyance system performs travel; an imagingdevice configured to capture image data of a surrounding environment; avideo encoder configured to encode the image data; one or moreprocessors; and at least one memory coupled to the one or moreprocessors and storing instructions which, when executed by the one ormore processors, cause the autonomous land vehicle to: travel using theland vehicle conveyance system; determine a communication capability ofthe at least two telecommunication devices while the land vehicleconveyance system performs travel; determine a compression rate for thevideo encoder based on the communication capability; encode the imagedata using the video encoder based on the compression rate to generateencoded data; and communicate the encoded data using at least one of theat least two telecommunication devices based on the communicationcapability, wherein in determining the communication capability of theat least two telecommunication devices, the instructions, when executedby the one or more processors, cause the autonomous land vehicle tosuccessively determine the communication capability of the at least twotelecommunication devices, and wherein in determining the compressionrate for the video encoder, the instructions, when executed by the oneor more processors, cause the autonomous land vehicle to successivelydetermine the compression rate for the video encoder based on thecommunication capability.
 4. The autonomous land vehicle of claim 3,wherein a time period for successively determining the communicationcapability and a time period for successively determining thecompression rate are based on a travel speed of the land vehicleconveyance system.
 5. The autonomous land vehicle of claim 4, whereinthe time period for successively determining the communicationcapability and the time period for successively determining thecompression rate, for a first higher travel speed, is shorter than thetime period for successively determining the communication capabilityand the time period for successively determining the compression rate,for a second lower travel speed.
 6. A method in an autonomous landvehicle having a land vehicle conveyance system and at least twotelecommunication devices that are configured to perform wirelesscommunication independently of each other and that are capable ofsimultaneously performing wireless communication while the autonomousland vehicle performs travel, the method comprising: capturing imagedata of a surrounding environment of the autonomous land vehicle;traveling using the land vehicle conveyance system; determining acommunication capability of the at least two telecommunication deviceswhile the land vehicle conveyance system performs travel; determining acompression rate based on the communication capability; encoding theimage data based on the compression rate to generate encoded data; andcommunicating the encoded data using at least one of the at least twotelecommunication devices based on the communication capability, whereinthe communication capability includes a total communication capacity ofthe at least two telecommunication devices, and wherein the compressionrate for a first lower total communication capacity is higher than thecompression rate for a second higher total communication capacity.
 7. Amethod in an autonomous land vehicle having a land vehicle conveyancesystem and at least two telecommunication devices that are configured toperform wireless communication independently of each other and that arecapable of simultaneously performing wireless communication while theautonomous land vehicle performs travel, the method comprising:capturing image data of a surrounding environment of the autonomous landvehicle; traveling using the land vehicle conveyance system; determininga communication capability of the at least two telecommunication deviceswhile the land vehicle conveyance system performs travel; determining acompression rate based on the communication capability; encoding theimage data based on the compression rate to generate encoded data; andcommunicating the encoded data using at least one of the at least twotelecommunication devices based on the communication capability, whereindetermining the communication capability of the at least twotelecommunication devices includes successively determine thecommunication capability of the at least two telecommunication devices,and wherein determining the compression rate includes successivelydetermining the compression rate based on the communication capability.8. The method of claim 7, wherein a time period for successivelydetermining the communication capability and a time period forsuccessively determining the compression rate are based on a travelspeed of the land vehicle conveyance system.